EP0322681B1

EP0322681B1 - Vehicle rear wheel steer angle control system

Info

Publication number: EP0322681B1
Application number: EP88121139A
Authority: EP
Inventors: Takaaki Eguchi; Yuzo Sakita
Original assignee: Nissan Motor Co Ltd
Current assignee: Nissan Motor Co Ltd
Priority date: 1987-12-28
Filing date: 1988-12-16
Publication date: 1994-02-16
Anticipated expiration: 2008-12-16
Also published as: KR890009710A; JP2740176B2; DE3887860D1; KR930005856B1; JPH01175573A; EP0322681A3; DE3887860T2; EP0322681A2; US5150764A

Description

The invention relates to a rear wheel steering control system as indicated in the precharacterizing part of claim 1.
Such a prior art rear wheel steering system, GB-A-2 151 997, uses a computer and detector means supplying a turning rate of the vehicle to the computer which determines a reference steering angle of the rear wheels and a velocity derivative is fed to the computer which then determines a corrective steering angle and processes both in order to determine the steering angle to be fed via an actuator to the rear wheels.
Another conventional example of such a rear wheel steering system is disclosed in JP-A-60-229873. This rear wheel steering system is arranged to steer the rear wheels so that the rear wheel steer angle δ, is made equal to the algebraic sum of a proportional term obtained by multiplying the steering angle 0 by a positive proportional constant K, and a first derivative term obtained by multiplying a steering angular speed 6 by a negative first derivative constant 7, ( δ, = Ke + 7 , θ̇).
When the steering angle 0 is varied as shown in Fig. 7, this control system varies the proportional control quantity Ke and the derivative control quantity τ ₁ 6 as shown by a dotted line and a one dot chain line in Fig. 7. As a result, the rear wheel steer angle δ_r is controlled as shown by a solid line a in each of Figs. 7 and 8.
The control constants K and 7, are so determined as to obtain a flat characteristic of the yaw rate gain. Therefore, an opposite-phase steering period △T₁ during which the rear wheels are steered in the opposite direction to the steering direction of the front wheels is considerably long as shown in Fig. 8. This causes passengers of the vehicle to feel, at the beginning of a turn, the unnatural feeling that the rear end of the vehicle is swung in the direction opposite to the centripetal direction, and degrades the riding confort.
It is possible to meet this problem by decreasing the first derivative constant τ₁ . In this case, the rear wheel steer angle is controlled as shown by a dotted line b in Fig. 8, and the opposite-phase steering period is reduced from △T₁ to AT₂. However, the amount of the opposite-phase steering is decreased from - δ_r1 to - b_r2 as shown in Fig. 8, and accordingly the response characteristic of yaw is deteriorated.
It is the object of the invention to provide a rear wheel steering control system which can decrease the opposite-phase steering period without decreasing the opposite-phase steering amount.
According to the invention, this object is solved by the features as claimed in the characterizing part of claim 1.
As schematically shown in Fig. 12, the controller comprises first operational means 101 for determining a first desired rear wheel steer angle so as to hold a yaw rate gain of the vehicle substantially constant, second operational means 102 for determining a second desired rear wheel steer angle in accordance with a steering acceleration, and third operational means 103 for adding the second desired rear wheel steer angle to the first desired rear wheel steer angle.
This control system can control the rear wheel steer angle so as to make flat the yaw rate gain characteristic with respect to the steering frequency, and produce the yaw rate in proportion to the steering amount independently of the steering speed without a phase lag. Furthermore, this control system adds the steer angle dependent on the steering acceleration to the rear wheel steer angle. With this additional steer angle, the control system can reduce the opposite-phase steering period without decreasing the opposite-phase steering amount.
The controller may further comprises differentiating means 104 for determining first and second derivatives of a steering input such as a steering wheel angle, means 105 for determing a pro- poritional constant K, and a first derivative constant τ₁, and means 106 for determining a second derivative constant ₇₂.

BRIEF DESCRIPTION OF THE DRAWINGS

Fig. 1 is a schematic view of a four wheel steering vehicle for showing one embodiment of the present invention.
Fig. 2 is a flowchart performed by a controller 11 shown in Fig. 1.
Figs. 3 and 4 are graphs showing relationships between a rear wheel steer angle and right or left solenoid exciting current I_R or I_L, used in the control system of Fig. 1.
Fig. 5 is a time chart showing the rear wheel steer angle according to the control system of Fig. 1.
Fig. 6 is a time chart showing the rear wheel steer angle according to the control system of Fig. 1, in comparison with the result of a conventional control system.
Figs. 7 and 8 are time charts of the rear wheel steer angle according to the conventional control system.
Figs. 9,10 and 11 are graphs showing vehicle speed dependent characteristics of proportional constant, first derivative constant and second derivative constant.
Fig.12 is a diagram schematically showing functions of the controller 11 of the present invention.

DETAILED DESCRIPTION OF THE INVENTION

One embodiment of the present invention is shown in Fig. 1.
A four wheel steering vehicle shown in Fig. 1 includes left and right front wheels 1 L and 1 R, left and right rear wheels 2L and 2R, and a steering wheel 3. The front wheels 1 and 1 R are connected with the steering wheel 3 through a steering gear 4 in a conventional manner. The rear wheels 2L and 2R are connected with a rear wheel steering actuator 5, so that the rear wheels 2L and 2R are also steerable.
The actuator 5 of this embodiment is a spring center type hydraulic actuator having left and right pressure chambers 5L and 5R. When a fluid pressure is supplied to the right chamber 5R, the actuator 5 steers the rear wheels 2L and 2R in the righthand direction through an angle proportional to the pressure. When the fluid pressure is supplied to the left chamber 5L, the actuator 5 steers the rear wheels 2L and 2R in the lefthand direction through an angle proportional to the pressure.
There is provided an electromagnetic proportional rear wheel steering control valve 6 for controlling the fluid presure supplied to the actuator 5. The control valve 6 includes four variable orifices 6a, 6b, 6c and 6d, which are connected in a bridge circuit. This bridge circuit is connected with a pump 7, a reservoir 8, a left fluid passage 9 leading to the left pressure chamber 5L of the actuator 5, and a right fluid passage 10 leading to the right pressure chamber 5R of the actuator 5. The control valve 6 further includes left and right solenoids 6L and 6R. When both of the solenoids 6L and 6R are OFF, then the variable orifices 6a and 6b, and the variable orifices 6c and 6d are all fully opened, so that both of the pressure chambers 5L and 5R are put in a non-pressure state. When the solenoid 6L or 6R is energized by a current I_L or I_R, the orifice pair 6c and 6d or the orifice pair 6a and 6b is closed to an opening degree corresponding to the magnitude of the exciting current, so that the fluid pressure corresponding to the current I_L or I_R is supplied to the pressure chamber 5L or 5R. In this way, a rear wheel steer angle δ_r of the rear wheels 2L and 2R is controlled in accordance with the currents I_L and I_R, as shown in Figs. 3 and 4.
A controller 11 is connected with the solenoids 6L and 6R for controlling the exciting currents I_L and I_R. The controller 11 of this embodiment is connected with a steering input sensor 12 and a vehicle speed sensor 13. In this embodiment, the steering input sensor 12 is a steering angle sensor for sensing a steering wheel angle 0 of the vehicle. The vehicle speed sensor 13 senses a vehicle speed V of the vehicle. Output signals of the sensors 12 and 13 are inputted into the controller 11. The controller 11 controls the rear wheel steer angle in accordance with 0 and V by regularly repeating a sequence of operations shown in Fig. 2 in a predetermined operating cycle At (for example, 100 msec). The controller 11 starts the program shown in Fig. 2 each time the period At elapses.
At a step 21, the controller 11 reads the steering angle 0 and the vehicle speed V, which are sensed by the sensors 12 and 13.
At a next step 22, the controller 11 obtains values of proportional constant K, first derivative constant τ₁ , and second derivative constant ₇₂, corresponding to a current value of the vehicle speed V, from data tables stored in a memory section of the controller 11. The proportional constant K and the first derivative constant τ₁, are so determined as to provide a flat characteristic of the vehicle yaw rate gain with respect to the steering frequency. The second derivative constant ₇₂ is characteristic of the present invention, and equal to or smaller than zero.
At a step 23, the controller 11 determines a steering angular speed 6 and a steering angular acceleration 6. In this embodiment, the steering angular speed 6 is set equal to a fraction whose numerator is a difference between a current value 0 of the steering angle obtained in the current operating cycle, and an old value θ_k of the steering angle which was obtained k cycles ago, and whose denominator is a product obtained by multiplying the cycle time At by k.
The steering acceleration
is determined by dividing a difference between the current steering angular speed value 6 determined in the current cycle, and an old steering angular speed value θ̇_kdetermined in the previous cycle k cycles ago, by At times k.
At a step 24, the controller 11 determines the rear wheel steer angle δ_r by using the proportional constant K, the first derivative constant τ₁ , the second derivative constant ₇₂, the steering angle 0, the steering angular speed 6 and the steering angular acceleration 6, according to the following equation.
At steps 25 and 26, the controller 11 determines values of the solenoid exciting currents I_R and I_L required to achieve the rear wheel steer angle calculated at the step 24, by using data tables coresponding to the graphs shown in Figs. 3 and 4. At steps 27 and 28, the controller 11 outputs the currents I_R and I_L determined at the steps 25 and 26, to the right and left solenoids 6R and 6L. Consequently, the rear wheels 2L and 2R are steered by the actuator 5, and the actual rear wheel steer angle is made equal to the calculated rear wheel steer angle.
When the steering wheel angle 0 is varied as shown in Fig. 5, the proportional term Ke, the first derivative term τ ₁ 6 and the second derivative term _τ2θ̈ of this control system vary as shown, respectively, by dotted line, one dot chain line, and two dot chain line in Fig. 5. The rear wheel steer angle δ_r which is the algebraic sum of the proportional term, the first derivative term and the second derivative term, varies as shown by a solid line c in Fig. 5.
In Fig. 6, the curve c of Fig. 5 and the curve a of Fig. 7 are plotted in the same graph. As known from the comparison between the curves c and a in Fig. 6, the control system of this embodiment can decrease the opposite-phase steering period during which the rear wheels 2L and 2R are steered in the direction opposite to the steering direction of the front wheels 1 and 1 R, from △T₁ to AT₃ without decreasing the amount of the opposite-phase steering of the rear wheels. In this way, the control system of this embodimentcan lessens the unnatural feeling that the rear end of the vehicle is swung in the direction opposite to the centripetal direction, without deteriorating the response of the yawing motion.
Figs. 9,10 and 11 shows examples of the proportional constant, the first derivative constant and the second derivative constant which can be used in the control system of Fig. 1.

Claims

1. A rear wheel steering control system of a vehicle, comprising:

a steering actuator (5) for varying an actual rear wheel steer angle of said vehicle in response to a control signal, and

a controller (11) for producing said control signal,
characterized in that

said controller (11) comprising first operational means (101) for determining a first desired rear wheel steer angle so as to hold a yaw rate gain of said vehicle susbstantially constant, second operational means (102) for determining a second desired rear wheel steer angle in accordance with a steering acceleration, and third operational means (103) for adding said second desired rear wheel steer angle to said first desired rear wheel steer angle.

2. A control system according to claim 1 wherein said first operational means (101) determines said first desired rear wheel steer angle so as to make flat a characteristic of said yaw rate gain versus a steering frequency.

3. A control system according to claim 1 wherein said control system further comprises a steering input sensor (12) for sensing a steering input of said vehicle, and said controller (11) is connected with said steering input sensor (12).

4. A control system according to claim 3 wherein said controller (11) further comprises first differentiating means (104) for determining a steering speed (6) which is substantially equal to a first derivative of said steering input (0) with respect to time, second differentiating means (104) for determining said steering acceleration () which is substantially equal to a second derivative of said steering input (0) with respect to time, and wherein said first operational means (101) is connected with said first differentiating means (104) and determines said first desired rear wheel steer angle in accordance with said steering input and said steering speed, and said second operational means (102) is connected with said second differentiating means (104).

5. A control system according to claim 4 wherein said first operational means (101) has such a characteristic that said first desired rear wheel steer angle is proportional to a linear combination of said steering input (0) and said steering speed (6), and said second operational means (102) has such a characteristic that said second desired rear wheel steer angle is proportional to said steering acceleration (θ̈).

6. A control system according to claim 5 wherein said second desired rear wheel steer angle is equal to a product obtained by multiplying said steering acceleration (θ̈) by a second derivative constant which is negative.

7. A control system according to claim 6 wherein said control system further comprises a vehicle speed sensor (13) for sensing a vehicle speed (V) of said vehicle, said vehicle speed sensor (13) being connected with said controller (11), and wherein said controller (11) further comprises means (105) for determining a proportional constant (K) in accordance with said vehicle speed (V), means (105) for determining a first derivative constant (τ₁) in accordance with said vehicle speed (V), and means (106) for determining said second derivative constant (_T2) in accordance with said vehicle speed (V), and said first operational means (101) determines said first desired rear wheel steer angle by adding said steering input (0) multiplied by said proportional constant (K) and said steering speed (6) multiplied by said first derivative constant (τ₁ ).

8. A control system according to claim 7 wherein said steering input sensor (12) is a sensor for sensing a steering wheel angle of said vehicle.